<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::ihs::Integration类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1ihs_1_1_integration.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-types">Private 类型</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1ihs_1_1_integration-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::ihs::Integration类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p>Integrate several clouds into a common mesh.  
 <a href="classpcl_1_1ihs_1_1_integration.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="integration_8h_source.html">integration.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a3dbf88f012f6bbff5c84cb4fbff55921"><td class="memItemLeft" align="right" valign="top"><a id="a3dbf88f012f6bbff5c84cb4fbff55921"></a>
typedef <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">pcl::PointXYZRGBNormal</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointXYZRGBNormal</b></td></tr>
<tr class="separator:a3dbf88f012f6bbff5c84cb4fbff55921"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac53f9b427b753f6ea1bb24a192322f52"><td class="memItemLeft" align="right" valign="top"><a id="ac53f9b427b753f6ea1bb24a192322f52"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">PointXYZRGBNormal</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudXYZRGBNormal</b></td></tr>
<tr class="separator:ac53f9b427b753f6ea1bb24a192322f52"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b43edd5beb01711f5d98f2baf7d3f99"><td class="memItemLeft" align="right" valign="top"><a id="a6b43edd5beb01711f5d98f2baf7d3f99"></a>
typedef CloudXYZRGBNormal::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>CloudXYZRGBNormalPtr</b></td></tr>
<tr class="separator:a6b43edd5beb01711f5d98f2baf7d3f99"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7825b4f108d3f36729988ac733159a78"><td class="memItemLeft" align="right" valign="top"><a id="a7825b4f108d3f36729988ac733159a78"></a>
typedef CloudXYZRGBNormal::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>CloudXYZRGBNormalConstPtr</b></td></tr>
<tr class="separator:a7825b4f108d3f36729988ac733159a78"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a30d53438e1aea1d5be01c0527762ebad"><td class="memItemLeft" align="right" valign="top"><a id="a30d53438e1aea1d5be01c0527762ebad"></a>
typedef pcl::ihs::Mesh&#160;</td><td class="memItemRight" valign="bottom"><b>Mesh</b></td></tr>
<tr class="separator:a30d53438e1aea1d5be01c0527762ebad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2748ae28e41ceb6baa7a30a2f19ed4b5"><td class="memItemLeft" align="right" valign="top"><a id="a2748ae28e41ceb6baa7a30a2f19ed4b5"></a>
typedef pcl::ihs::MeshPtr&#160;</td><td class="memItemRight" valign="bottom"><b>MeshPtr</b></td></tr>
<tr class="separator:a2748ae28e41ceb6baa7a30a2f19ed4b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afa968c1df09726cbe49895b9f5e023c6"><td class="memItemLeft" align="right" valign="top"><a id="afa968c1df09726cbe49895b9f5e023c6"></a>
typedef pcl::ihs::MeshConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>MeshConstPtr</b></td></tr>
<tr class="separator:afa968c1df09726cbe49895b9f5e023c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a615a1b76ea8755e6db3609ecdcb69dc5"><td class="memItemLeft" align="right" valign="top"><a id="a615a1b76ea8755e6db3609ecdcb69dc5"></a>
typedef Mesh::VertexIndex&#160;</td><td class="memItemRight" valign="bottom"><b>VertexIndex</b></td></tr>
<tr class="separator:a615a1b76ea8755e6db3609ecdcb69dc5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac70b32ed7e83f14c37f28f9cd53f1484"><td class="memItemLeft" align="right" valign="top"><a id="ac70b32ed7e83f14c37f28f9cd53f1484"></a>
typedef Mesh::VertexIndices&#160;</td><td class="memItemRight" valign="bottom"><b>VertexIndices</b></td></tr>
<tr class="separator:ac70b32ed7e83f14c37f28f9cd53f1484"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a439391e4bb77a5c928c821d1c7e2ff01"><td class="memItemLeft" align="right" valign="top"><a id="a439391e4bb77a5c928c821d1c7e2ff01"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a439391e4bb77a5c928c821d1c7e2ff01">Integration</a> ()</td></tr>
<tr class="memdesc:a439391e4bb77a5c928c821d1c7e2ff01"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a439391e4bb77a5c928c821d1c7e2ff01"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5f4f4d1de97835965eb7324f434c1918"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a5f4f4d1de97835965eb7324f434c1918">reconstructMesh</a> (const CloudXYZRGBNormalConstPtr &amp;cloud_data, MeshPtr &amp;mesh_model) const</td></tr>
<tr class="memdesc:a5f4f4d1de97835965eb7324f434c1918"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reconstructs a mesh from an organized cloud.  <a href="classpcl_1_1ihs_1_1_integration.html#a5f4f4d1de97835965eb7324f434c1918">更多...</a><br /></td></tr>
<tr class="separator:a5f4f4d1de97835965eb7324f434c1918"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03e1bde7dade017346b65819f2f0d655"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a03e1bde7dade017346b65819f2f0d655">merge</a> (const CloudXYZRGBNormalConstPtr &amp;cloud_data, MeshPtr &amp;mesh_model, const Eigen::Matrix4f &amp;T) const</td></tr>
<tr class="memdesc:a03e1bde7dade017346b65819f2f0d655"><td class="mdescLeft">&#160;</td><td class="mdescRight">Merge the organized cloud into the mesh.  <a href="classpcl_1_1ihs_1_1_integration.html#a03e1bde7dade017346b65819f2f0d655">更多...</a><br /></td></tr>
<tr class="separator:a03e1bde7dade017346b65819f2f0d655"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a903a86c6c32d75d1f17d01dc64f16827"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a903a86c6c32d75d1f17d01dc64f16827">age</a> (const MeshPtr &amp;mesh, const bool cleanup=true) const</td></tr>
<tr class="memdesc:a903a86c6c32d75d1f17d01dc64f16827"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outlier rejection. In each merge step points that have not been observed again age by one iteration. Points that are observed again get an age of 0. Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh. A point is removed if it has not been observed from a minimum number of directions.  <a href="classpcl_1_1ihs_1_1_integration.html#a903a86c6c32d75d1f17d01dc64f16827">更多...</a><br /></td></tr>
<tr class="separator:a903a86c6c32d75d1f17d01dc64f16827"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a920980a6b0f773bccbccb1b57bec7128"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a920980a6b0f773bccbccb1b57bec7128">removeUnfitVertices</a> (const MeshPtr &amp;mesh, const bool cleanup=true) const</td></tr>
<tr class="memdesc:a920980a6b0f773bccbccb1b57bec7128"><td class="mdescLeft">&#160;</td><td class="mdescRight">Removes unfit vertices regardless of their age. Unfit vertices are those that have not been observed from enough directions.  <a href="classpcl_1_1ihs_1_1_integration.html#a920980a6b0f773bccbccb1b57bec7128">更多...</a><br /></td></tr>
<tr class="separator:a920980a6b0f773bccbccb1b57bec7128"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr><td colspan="2"><div class="groupHeader"></div></td></tr>
<tr class="memitem:acd8029214ba3ee4408335d0add1e522a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#acd8029214ba3ee4408335d0add1e522a">setMaxSquaredDistance</a> (const float squared_distance)</td></tr>
<tr class="memdesc:acd8029214ba3ee4408335d0add1e522a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Corresponding points are averaged out if their distance is below a distance threshold. Else the points are added to the mesh as new vertices (Set in cm^2).  <a href="classpcl_1_1ihs_1_1_integration.html#acd8029214ba3ee4408335d0add1e522a">更多...</a><br /></td></tr>
<tr class="separator:acd8029214ba3ee4408335d0add1e522a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab04333425f41af810914554b7230669a"><td class="memItemLeft" align="right" valign="top"><a id="ab04333425f41af810914554b7230669a"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxSquaredDistance</b> () const</td></tr>
<tr class="separator:ab04333425f41af810914554b7230669a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr><td colspan="2"><div class="groupHeader"></div></td></tr>
<tr class="memitem:ac6a09955b826cff1529bcfdfa6476c4d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#ac6a09955b826cff1529bcfdfa6476c4d">setMaxAngle</a> (const float angle)</td></tr>
<tr class="memdesc:ac6a09955b826cff1529bcfdfa6476c4d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Corresponding points are only averaged out if the angle between the normals is smaller than an angle threshold.  <a href="classpcl_1_1ihs_1_1_integration.html#ac6a09955b826cff1529bcfdfa6476c4d">更多...</a><br /></td></tr>
<tr class="separator:ac6a09955b826cff1529bcfdfa6476c4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f61c41ce566ecca35b93f5f20cca371"><td class="memItemLeft" align="right" valign="top"><a id="a8f61c41ce566ecca35b93f5f20cca371"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxAngle</b> () const</td></tr>
<tr class="separator:a8f61c41ce566ecca35b93f5f20cca371"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr><td colspan="2"><div class="groupHeader"></div></td></tr>
<tr class="memitem:a111b3699e32996990dd7432bad8114f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a111b3699e32996990dd7432bad8114f4">setMaxAge</a> (const unsigned int <a class="el" href="classpcl_1_1ihs_1_1_integration.html#a903a86c6c32d75d1f17d01dc64f16827">age</a>)</td></tr>
<tr class="memdesc:a111b3699e32996990dd7432bad8114f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh.  <a href="classpcl_1_1ihs_1_1_integration.html#a111b3699e32996990dd7432bad8114f4">更多...</a><br /></td></tr>
<tr class="separator:a111b3699e32996990dd7432bad8114f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9d063a61c9dbb2efb8753cbd4f3b323b"><td class="memItemLeft" align="right" valign="top"><a id="a9d063a61c9dbb2efb8753cbd4f3b323b"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxAge</b> () const</td></tr>
<tr class="separator:a9d063a61c9dbb2efb8753cbd4f3b323b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr><td colspan="2"><div class="groupHeader"></div></td></tr>
<tr class="memitem:a3e40f576819e8e7e5acce7d7f79bc4f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a3e40f576819e8e7e5acce7d7f79bc4f4">setMinDirections</a> (const unsigned int directions)</td></tr>
<tr class="memdesc:a3e40f576819e8e7e5acce7d7f79bc4f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">A point is removed if it has not been observed from a minimum number of directions.  <a href="classpcl_1_1ihs_1_1_integration.html#a3e40f576819e8e7e5acce7d7f79bc4f4">更多...</a><br /></td></tr>
<tr class="separator:a3e40f576819e8e7e5acce7d7f79bc4f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3682548962f4db4f1711ff424c63cbe9"><td class="memItemLeft" align="right" valign="top"><a id="a3682548962f4db4f1711ff424c63cbe9"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>getMinDirections</b> () const</td></tr>
<tr class="separator:a3682548962f4db4f1711ff424c63cbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-types"></a>
Private 类型</h2></td></tr>
<tr class="memitem:a0c94aeacca91661eb993f1d6d74b262c"><td class="memItemLeft" align="right" valign="top"><a id="a0c94aeacca91661eb993f1d6d74b262c"></a>
typedef <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointXYZ</b></td></tr>
<tr class="separator:a0c94aeacca91661eb993f1d6d74b262c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b0858ddf08ccac67c042721abd4ebb3"><td class="memItemLeft" align="right" valign="top"><a id="a4b0858ddf08ccac67c042721abd4ebb3"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudXYZ</b></td></tr>
<tr class="separator:a4b0858ddf08ccac67c042721abd4ebb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8a63514395fcbb20aeaf6ad2fcd102d1"><td class="memItemLeft" align="right" valign="top"><a id="a8a63514395fcbb20aeaf6ad2fcd102d1"></a>
typedef CloudXYZ::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>CloudXYZPtr</b></td></tr>
<tr class="separator:a8a63514395fcbb20aeaf6ad2fcd102d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7dd0f66cc75a179d6b7f2c2a0e3d7206"><td class="memItemLeft" align="right" valign="top"><a id="a7dd0f66cc75a179d6b7f2c2a0e3d7206"></a>
typedef CloudXYZ::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>CloudXYZConstPtr</b></td></tr>
<tr class="separator:a7dd0f66cc75a179d6b7f2c2a0e3d7206"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0af7f52bab503a29712164174554b8b0"><td class="memItemLeft" align="right" valign="top"><a id="a0af7f52bab503a29712164174554b8b0"></a>
typedef <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">pcl::ihs::PointIHS</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointIHS</b></td></tr>
<tr class="separator:a0af7f52bab503a29712164174554b8b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad31740579c4824e33ede5bb07adf98ce"><td class="memItemLeft" align="right" valign="top"><a id="ad31740579c4824e33ede5bb07adf98ce"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::ihs::CloudIHS</a>&#160;</td><td class="memItemRight" valign="bottom"><b>CloudIHS</b></td></tr>
<tr class="separator:ad31740579c4824e33ede5bb07adf98ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a47dd2785cb109258de3b2adeb951a541"><td class="memItemLeft" align="right" valign="top"><a id="a47dd2785cb109258de3b2adeb951a541"></a>
typedef pcl::ihs::CloudIHSPtr&#160;</td><td class="memItemRight" valign="bottom"><b>CloudIHSPtr</b></td></tr>
<tr class="separator:a47dd2785cb109258de3b2adeb951a541"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74840bead4436a5e7108ad28110ce6e4"><td class="memItemLeft" align="right" valign="top"><a id="a74840bead4436a5e7108ad28110ce6e4"></a>
typedef pcl::ihs::CloudIHSConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>CloudIHSConstPtr</b></td></tr>
<tr class="separator:a74840bead4436a5e7108ad28110ce6e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e12bb3a158dc6f23206d0988cb0b910"><td class="memItemLeft" align="right" valign="top"><a id="a2e12bb3a158dc6f23206d0988cb0b910"></a>
typedef <a class="el" href="classpcl_1_1_kd_tree.html">pcl::KdTree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
<tr class="separator:a2e12bb3a158dc6f23206d0988cb0b910"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a533e87ecec6840083399d71a4ef8ad4c"><td class="memItemLeft" align="right" valign="top"><a id="a533e87ecec6840083399d71a4ef8ad4c"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_kd_tree.html">KdTree</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
<tr class="separator:a533e87ecec6840083399d71a4ef8ad4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af38e727d085213f61765c2b108257055"><td class="memItemLeft" align="right" valign="top"><a id="af38e727d085213f61765c2b108257055"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_kd_tree.html">KdTree</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreeConstPtr</b></td></tr>
<tr class="separator:af38e727d085213f61765c2b108257055"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:a5b872100e73eae7fab2e64fdc53d0977"><td class="memItemLeft" align="right" valign="top"><a id="a5b872100e73eae7fab2e64fdc53d0977"></a>
uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>trimRGB</b> (const float val) const</td></tr>
<tr class="separator:a5b872100e73eae7fab2e64fdc53d0977"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a30bed89aad20576dd8379400237aba4d"><td class="memItemLeft" align="right" valign="top"><a id="a30bed89aad20576dd8379400237aba4d"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a30bed89aad20576dd8379400237aba4d">addToMesh</a> (const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_0, const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_1, const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_2, const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_3, VertexIndex &amp;vi_0, VertexIndex &amp;vi_1, VertexIndex &amp;vi_2, VertexIndex &amp;vi_3, const MeshPtr &amp;mesh) const</td></tr>
<tr class="memdesc:a30bed89aad20576dd8379400237aba4d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds two triangles between points 0-1-3 and 1-2-3 to the mesh. <br /></td></tr>
<tr class="separator:a30bed89aad20576dd8379400237aba4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa47cf4b0defbba543587d54860b11b1a"><td class="memItemLeft" align="right" valign="top"><a id="aa47cf4b0defbba543587d54860b11b1a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#aa47cf4b0defbba543587d54860b11b1a">addToMesh</a> (const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_0, const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_1, const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_2, VertexIndex &amp;vi_0, VertexIndex &amp;vi_1, VertexIndex &amp;vi_2, const MeshPtr &amp;mesh) const</td></tr>
<tr class="memdesc:aa47cf4b0defbba543587d54860b11b1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds a triangle between the points 0-1-2 to the mesh. <br /></td></tr>
<tr class="separator:aa47cf4b0defbba543587d54860b11b1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a14eca9fb2bbb123e3446e7756d470530"><td class="memItemLeft" align="right" valign="top"><a id="a14eca9fb2bbb123e3446e7756d470530"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a14eca9fb2bbb123e3446e7756d470530">distanceThreshold</a> (const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_0, const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_1, const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_2) const</td></tr>
<tr class="memdesc:a14eca9fb2bbb123e3446e7756d470530"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the distance between the three points is below a threshold. <br /></td></tr>
<tr class="separator:a14eca9fb2bbb123e3446e7756d470530"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b7b4b2446f1740870e1c9f7eff3f7ea"><td class="memItemLeft" align="right" valign="top"><a id="a4b7b4b2446f1740870e1c9f7eff3f7ea"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a4b7b4b2446f1740870e1c9f7eff3f7ea">distanceThreshold</a> (const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_0, const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_1, const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_2, const <a class="el" href="structpcl_1_1ihs_1_1_point_i_h_s.html">PointIHS</a> &amp;pt_3) const</td></tr>
<tr class="memdesc:a4b7b4b2446f1740870e1c9f7eff3f7ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the distance between the four points is below a threshold. <br /></td></tr>
<tr class="separator:a4b7b4b2446f1740870e1c9f7eff3f7ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:af4d58409d3cfdb1fb3eaf5a009f173cb"><td class="memItemLeft" align="right" valign="top"><a id="af4d58409d3cfdb1fb3eaf5a009f173cb"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#af4d58409d3cfdb1fb3eaf5a009f173cb">kd_tree_</a></td></tr>
<tr class="memdesc:af4d58409d3cfdb1fb3eaf5a009f173cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Nearest neighbor search. <br /></td></tr>
<tr class="separator:af4d58409d3cfdb1fb3eaf5a009f173cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a62f3d0cb92f5505b187fd1bf151f2ca3"><td class="memItemLeft" align="right" valign="top"><a id="a62f3d0cb92f5505b187fd1bf151f2ca3"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a62f3d0cb92f5505b187fd1bf151f2ca3">max_squared_distance_</a></td></tr>
<tr class="memdesc:a62f3d0cb92f5505b187fd1bf151f2ca3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum squared distance below which points are averaged out. <br /></td></tr>
<tr class="separator:a62f3d0cb92f5505b187fd1bf151f2ca3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a418760b0356848b20cdbed13cd58476e"><td class="memItemLeft" align="right" valign="top"><a id="a418760b0356848b20cdbed13cd58476e"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a418760b0356848b20cdbed13cd58476e">max_angle_</a></td></tr>
<tr class="memdesc:a418760b0356848b20cdbed13cd58476e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum angle between normals below which points are averaged out. In degrees. <br /></td></tr>
<tr class="separator:a418760b0356848b20cdbed13cd58476e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac215225ef007748c0eb6ad570039275f"><td class="memItemLeft" align="right" valign="top"><a id="ac215225ef007748c0eb6ad570039275f"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#ac215225ef007748c0eb6ad570039275f">min_weight_</a></td></tr>
<tr class="memdesc:ac215225ef007748c0eb6ad570039275f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum weight above which points are added. <br /></td></tr>
<tr class="separator:ac215225ef007748c0eb6ad570039275f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a07aca4cfd365b39c06c8df6484e713ad"><td class="memItemLeft" align="right" valign="top"><a id="a07aca4cfd365b39c06c8df6484e713ad"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a07aca4cfd365b39c06c8df6484e713ad">max_age_</a></td></tr>
<tr class="memdesc:a07aca4cfd365b39c06c8df6484e713ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh. <br /></td></tr>
<tr class="separator:a07aca4cfd365b39c06c8df6484e713ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6ee117986252530cd2aec203f9d2b618"><td class="memItemLeft" align="right" valign="top"><a id="a6ee117986252530cd2aec203f9d2b618"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1ihs_1_1_integration.html#a6ee117986252530cd2aec203f9d2b618">min_directions_</a></td></tr>
<tr class="memdesc:a6ee117986252530cd2aec203f9d2b618"><td class="mdescLeft">&#160;</td><td class="mdescRight">A point is removed if it has not been observed from a minimum number of directions. <br /></td></tr>
<tr class="separator:a6ee117986252530cd2aec203f9d2b618"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Integrate several clouds into a common mesh. </p>
<dl class="section author"><dt>作者</dt><dd>Martin Saelzle </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a903a86c6c32d75d1f17d01dc64f16827"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a903a86c6c32d75d1f17d01dc64f16827">&#9670;&nbsp;</a></span>age()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::ihs::Integration::age </td>
          <td>(</td>
          <td class="paramtype">const MeshPtr &amp;&#160;</td>
          <td class="paramname"><em>mesh</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const bool&#160;</td>
          <td class="paramname"><em>cleanup</em> = <code>true</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Outlier rejection. In each merge step points that have not been observed again age by one iteration. Points that are observed again get an age of 0. Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh. A point is removed if it has not been observed from a minimum number of directions. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in,out]</td><td class="paramname">mesh</td><td>The mesh which should be processed. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cleanup</td><td>Calls mesh.cleanup () if true. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a03e1bde7dade017346b65819f2f0d655"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a03e1bde7dade017346b65819f2f0d655">&#9670;&nbsp;</a></span>merge()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool pcl::ihs::Integration::merge </td>
          <td>(</td>
          <td class="paramtype">const CloudXYZRGBNormalConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">MeshPtr &amp;&#160;</td>
          <td class="paramname"><em>mesh_model</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix4f &amp;&#160;</td>
          <td class="paramname"><em>T</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Merge the organized cloud into the mesh. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_data</td><td>Input cloud. Must be organized. </td></tr>
    <tr><td class="paramdir">[in,out]</td><td class="paramname">mesh_model</td><td><a class="el" href="class_mesh.html">Mesh</a> with new points integrated. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">T</td><td>Transformation that aligns the data cloud with the model mesh. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if success. </dd></dl>

</div>
</div>
<a id="a5f4f4d1de97835965eb7324f434c1918"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5f4f4d1de97835965eb7324f434c1918">&#9670;&nbsp;</a></span>reconstructMesh()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool pcl::ihs::Integration::reconstructMesh </td>
          <td>(</td>
          <td class="paramtype">const CloudXYZRGBNormalConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_data</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">MeshPtr &amp;&#160;</td>
          <td class="paramname"><em>mesh_model</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Reconstructs a mesh from an organized cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_data</td><td>Input cloud. Must be organized. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">mesh_model</td><td>Reconstructed mesh. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if success. </dd></dl>

</div>
</div>
<a id="a920980a6b0f773bccbccb1b57bec7128"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a920980a6b0f773bccbccb1b57bec7128">&#9670;&nbsp;</a></span>removeUnfitVertices()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::ihs::Integration::removeUnfitVertices </td>
          <td>(</td>
          <td class="paramtype">const MeshPtr &amp;&#160;</td>
          <td class="paramname"><em>mesh</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const bool&#160;</td>
          <td class="paramname"><em>cleanup</em> = <code>true</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Removes unfit vertices regardless of their age. Unfit vertices are those that have not been observed from enough directions. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in,out]</td><td class="paramname">mesh</td><td>The which should be processed. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cleanup</td><td>Calls mesh.cleanup () if true. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a111b3699e32996990dd7432bad8114f4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a111b3699e32996990dd7432bad8114f4">&#9670;&nbsp;</a></span>setMaxAge()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::ihs::Integration::setMaxAge </td>
          <td>(</td>
          <td class="paramtype">const unsigned int&#160;</td>
          <td class="paramname"><em>age</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh. </p>
<dl class="section note"><dt>注解</dt><dd>Must be greater than zero. </dd></dl>

</div>
</div>
<a id="ac6a09955b826cff1529bcfdfa6476c4d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac6a09955b826cff1529bcfdfa6476c4d">&#9670;&nbsp;</a></span>setMaxAngle()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::ihs::Integration::setMaxAngle </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>angle</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Corresponding points are only averaged out if the angle between the normals is smaller than an angle threshold. </p>
<dl class="section note"><dt>注解</dt><dd>Must be between 0 and 180. Values outside this range are clamped to the nearest valid value. </dd></dl>

</div>
</div>
<a id="acd8029214ba3ee4408335d0add1e522a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acd8029214ba3ee4408335d0add1e522a">&#9670;&nbsp;</a></span>setMaxSquaredDistance()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::ihs::Integration::setMaxSquaredDistance </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>squared_distance</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Corresponding points are averaged out if their distance is below a distance threshold. Else the points are added to the mesh as new vertices (Set in cm^2). </p>
<dl class="section note"><dt>注解</dt><dd>Must be greater than zero. </dd></dl>

</div>
</div>
<a id="a3e40f576819e8e7e5acce7d7f79bc4f4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3e40f576819e8e7e5acce7d7f79bc4f4">&#9670;&nbsp;</a></span>setMinDirections()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::ihs::Integration::setMinDirections </td>
          <td>(</td>
          <td class="paramtype">const unsigned int&#160;</td>
          <td class="paramname"><em>directions</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>A point is removed if it has not been observed from a minimum number of directions. </p>
<dl class="section note"><dt>注解</dt><dd>Must be greater than zero. </dd></dl>

</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/<a class="el" href="integration_8h_source.html">integration.h</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><b>ihs</b></li><li class="navelem"><a class="el" href="classpcl_1_1ihs_1_1_integration.html">Integration</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
